Real-time imitation of human whole-body motions by humanoids

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 2806-2812

  Koenemann, Jonas ^a   Burget, Felix ^a   Bennewitz, Maren ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

INVERSE KINEMATICS;

CENTER OF MASS; HUMAN MODEL; HUMANOID ROBOT; MOTION CAPTURE SYSTEM; SINGLE SUPPORT; STABLE CONFIGURATION; SUPPORT POLYGON; WHOLE-BODY MOTION;

ANTHROPOMORPHIC ROBOTS;

EID: 84929223393     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6907261     Document Type: Conference Paper

References (18)

1. S. Kim, C. Kim, B. You, and S. Oh, "Stable whole-body motion generation for humanoid robots to imitate human motions, " in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2009.
2. W. Suleiman, E. Yoshida, F. Kanehiro, J.-P. Laumond, and A. Monin, "On human motion imitation by humanoid robot, " in IEEE Int. Conf. on Robotics and Automation (ICRA), 2008.
3. R. Chalodhorn, D. B. Grimes, K. Grochow, and R. P. N. Rao, "Learning to walk through imitation, " in Int. Conf. on Artificial Intelligence (IJCAI), 2007.
4. S. Nakaoka, A. Nakazawa, F. Kanehiro, K. Kaneko, M. Morisawa, H. Hirukawa, and K. Ikeuchi, "Learning from observation paradigm: Leg task models for enabling a biped humanoid robot to imitate human dances, " Int. Journal of Robotics Research (IJRR), vol. 26, no. 8, 2007.
5. A. Ude, C. Atkeson, and M. Riley, "Programming full-body movements for humanoid robots by observation, " in Robotics and Autonomous Systems, 2004.
6. A. Safonova, N. Pollard, and J. K. Hodgins, "Optimizing human motion for the control of a humanoid robot, " in Int. Symp. on Adaptive Motion of Animals and Machines (AMAM), 2003.
7. C. Ott, D. Lee, and Y. Nakamura, "Motion capture based human motion recognition and imitation by direct marker control, " in Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2008.
8. B. Dariush, M. Gienger, A. Arumbakkam, Y. Zhu, B. Jian, K. FujiMura, and C. Goerick, "Online transfer of human motion to humanoids, " Int. Journal of Humanoid Robotics (IJHR), vol. 6, no. 2, 2009.
9. M. Do, P. Azad, T. Asfour, and R. Dillmann, "Imitation of human motion on a humanoid robot using non-linear optimization, " in Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2008.
10. C. Stanton, A. Bogdanovych, and E. Ratanasen, "Teleoperation of a humanoid robot using full-body motion capture, example movements, and machine learning, " in Proc. of the Australasian Conf. on Robotics and Automation (ACRA), 2012.
11. K. Yamane and J. Hodgins, "Controlling humanoid robots with human motion data: Experimental validation, " in Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2010.
12. J. Koenemann and M. Bennewitz, "Whole-body imitation of human motions with a nao humanoid, " in Video Abstract Proc. of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2012.
13. M. Riley, A. Ude, K. Wade, and C. G. Atkeson, "Enabling real-time full body imitation: A natural way of transferring human movements to humanoids, " in IEEE Int. Conf. on Robotics and Automation (ICRA), 2003.
14. K. Yamane and J. Hodgins, "Control-aware mapping of human motion data with stepping for humanoid robots, " in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2010.
15. A. Cela, J. J. Yebes, R. Arroyo, L. M. Bergasa, R. Barea, and E. Lopez, "Complete low-cost implementation of a teleoperated control system for a humanoid robot, " Sensors, vol. 13, no. 2, 2013.
16. R. Vuga, M. Ogrinc, A. Gams, T. Petric, N. Sugimoto, A. Ude, and J. Morimoto, "Motion capture and reinforcement learning of dynamically stable humanoid movement primitives, " in IEEE Int. Conf. on Robotics and Automation (ICRA), 2013.
17. S. Nakaoka, A. Nakazawa, K. Yokoi, H. Hirukawa, and K. Ikeuchi, "Generating whole body motions for a biped humanoid robot from captured human dances, " in IEEE Int. Conf. on Robotics and Automation (ICRA), 2003.
18. T. F. Chang and R. V. Dubey, "A Weighted Least-Norm Solution Based Scheme for Avoiding Joints Limits for Redundant Manipulators, " IEEE Trans. on Robotics and Automation, vol. 11, no. 2, Apr. 1995.